CN205649470U - Wheel slip detection and correction system for intelligent sweeper - Google Patents
Wheel slip detection and correction system for intelligent sweeper Download PDFInfo
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- CN205649470U CN205649470U CN201620003993.2U CN201620003993U CN205649470U CN 205649470 U CN205649470 U CN 205649470U CN 201620003993 U CN201620003993 U CN 201620003993U CN 205649470 U CN205649470 U CN 205649470U
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- intelligent sweeping
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- 238000001514 detection method Methods 0.000 title claims description 28
- 241001417527 Pempheridae Species 0.000 title abstract description 3
- 238000010408 sweeping Methods 0.000 claims abstract description 28
- 239000003638 chemical reducing agent Substances 0.000 abstract 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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Abstract
The utility model discloses a wheel of intelligence machine of sweeping floor skids and detects and correction system, including the intelligence machine casing of sweeping floor, its characterized in that: a main control MCU is integrated in the shell of the intelligent sweeper, and a coder and a motor driving module are arranged in a device connected with the main control MCU; the casing bottom sets up double round and detects the structure, and this structure has two drive wheels, two and detects the wheel, four group's reducers, four encoders, detects the wheel and is connected with the encoder through the reducer respectively on same axis with the drive wheel, and adopts the centrosymmetric structure. The utility model discloses simple structure can detect and revise the direction error that produces in the operation.
Description
Technical field
This utility model relates to electromechanical integration technology area, and a kind of wheel-slip for intelligent sweeping detects and update the system.
Background technology
The key technology of intelligent sweeping is the realization of complete coverage algorithm, and the premise that algorithm realizes is that intelligent sweeping travels according to desired guiding trajectory.When intelligent sweeping wheel-slip occurs in working order, if can not be modified the error caused of skidding, intelligent sweeping will deviate from preset travel track, causes its work efficiency to reduce.Three-axis gyroscope is a kind of the most widely used sensor in wheel-slip detection and update the system, is primarily present problems with: one, and three-axis gyroscope self exists null offset, it is impossible to detect the small angle error of the middle appearance that works long hours；Its two, utilize three-axis gyroscope to realize the algorithm of this system complicated, high to controller performance requirements.
Summary of the invention
This utility model is to solve the deficiency existing for prior art, proposes a kind of novel intelligent sweeping wheel-slip detection and update the system.
To achieve these goals, this utility model adopts the following technical scheme that
A kind of wheel-slip for intelligent sweeping detects and update the system, including intelligent sweeping housing, it is characterised in that: being integrated with main control MCU in described intelligent sweeping housing, the device being connected with main control MCU has encoder and motor drive module；Housing bottom arranges two-wheel detection structure.
Described two-wheel detection structure, has two driving wheels, two detection wheels, four groups of decelerators, four encoders, and detection wheel with driving wheel on the same axis, is connected with encoder by decelerator respectively, and uses centrosymmetric structure.
Described driving wheel is driven by the motor of same model respectively, and main control MCU realizes the control to motor by motor drive module, and the duty of motor determines the operating condition of driving wheel.
Described detection wheel relies on frictional ground force to rotate, and is used for measuring intelligent sweeping actual travel state.
Described decelerator is used for regulating intelligent sweeping travel speed, and makes the sampling precision of encoder consistent.
Described encoder, for gathering the rotation information of wheel, utilizes main control MCU that encoder exports step-by-step counting, calculates vehicle wheel rotation distance.
Compared with prior art, this utility model has the advantages that two-wheel detection structure has fault-tolerance, simple and reliable, utilize the detection of intelligent sweeping wheel-slip and the update the system of this structure, the small angle error that long-play produces can be added up, detect and revise the traffic direction error of intelligent sweeping in real time and revise, reducing intelligent sweeping and clean the time, improve its work efficiency.
Accompanying drawing explanation
Fig. 1 is the two-wheel detection structural representation in embodiment for intelligent sweeping.
Fig. 2 is wheel-slip detection and the update the system structural representation in embodiment for intelligent sweeping.
Detailed description of the invention
Below in conjunction with being specifically illustrating, this utility model is expanded on further.See Fig. 1, a kind of wheel-slip for intelligent sweeping detects and update the system, described intelligent sweeping has housing 1, housing bottom front end arranges universal wheel 61, rear end, bottom arranges two-wheel detection structure, detection wheel 22 is set inside driving wheel 21, driving wheel on the same axis and uses centrosymmetric structure with detection wheel, driving wheel side sets centrally-mounted driving 31, it is respectively provided with encoder 51 and decelerator 41 at driving wheel and detection wheel side, the input of decelerator is connected with wheel, the input of encoder is connected with the outfan of decelerator, the outfan of motor is connected with the outfan of decelerator.
Seeing Fig. 2, described intelligent sweeping enclosure interior is integrated with main control MCU, and be connected with main control MCU is provided with encoder and drives module, and the outfan of encoder is connected with the input of main control MCU, drives the outfan of module to be connected with the input of motor.Main control MCU exports step-by-step counting to each encoder, calculates the rotation distance of each wheel, drives module to control the rotation of each motor respectively according to the instruction of main control MCU.
When intelligent sweeping normally travels, in straight line moving state, the distance that driving wheel travels with detection wheel is equal；At turn condition, driving wheel is corresponding proportional with detection wheel operating range.When there is skidding, owing to detection wheel does not rotate relative to driving wheel, driving wheel is different with normal transport condition from the proportionate relationship of detection wheel rotation distance.
During use, main control MCU sends and drives signal to driving module, module is driven after receiving signal, to control the switch of motor, driving wheel is made to rotate, detection wheel relies on frictional ground force to rotate, main control MCU exports step-by-step counting according to cycle regular time to the encoder of driving wheel with detection wheel, calculate the actual rotation distance of each wheel, main control MCU is according to the proportionate relationship of driving wheel under normal transport condition with detection wheel rotation distance, traffic direction error in computational intelligence sweeper real work, if deflection error exceedes error threshold, main control MCU controls electric machine rotation according to error amount, revise intelligent sweeping traffic direction.This design can be used in combination with multiple mobile robot, to detect and to revise the error caused by wheel-slip.
Due to intelligent sweeping non-the application main points, in view of it can refer to prior art, this literary composition does not describes in detail.
The foregoing is only preferred implementation of the present utility model, protection domain of the present utility model is not limited in above-mentioned embodiment, and every technical scheme belonging to this utility model principle belongs to protection domain of the present utility model.For a person skilled in the art, the some improvement carried out on the premise of without departing from principle of the present utility model, these improve the scope that also should be regarded as this utility model protection.
Claims (1)
1. for wheel-slip detection and the update the system of intelligent sweeping, including intelligent sweeping housing, it is characterised in that: being integrated with main control MCU in described intelligent sweeping housing, the device being connected with main control MCU has encoder and motor drive module；Housing bottom arranges two-wheel detection structure, and described two-wheel detection structure has two driving wheels, two detection wheels, four groups of decelerators, four encoders, and detection wheel with driving wheel on the same axis, and uses centrosymmetric structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620003993.2U CN205649470U (en) | 2016-01-06 | 2016-01-06 | Wheel slip detection and correction system for intelligent sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620003993.2U CN205649470U (en) | 2016-01-06 | 2016-01-06 | Wheel slip detection and correction system for intelligent sweeper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205649470U true CN205649470U (en) | 2016-10-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620003993.2U Expired - Fee Related CN205649470U (en) | 2016-01-06 | 2016-01-06 | Wheel slip detection and correction system for intelligent sweeper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205649470U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107643186A (en) * | 2017-09-15 | 2018-01-30 | 深圳市杉川机器人有限公司 | The method, apparatus and system of machine skidding detection |
| CN110174257A (en) * | 2019-06-28 | 2019-08-27 | 北京云迹科技有限公司 | The method and device that the indoor wheeled wheels of robot of detection skids |
| WO2020000325A1 (en) * | 2018-06-28 | 2020-01-02 | 广州艾若博机器人科技有限公司 | Apparatus, method and system for measuring speed of universal wheel, slip detection method, movable electronic apparatus, and method and route correction apparatus for correcting route |
-
2016
- 2016-01-06 CN CN201620003993.2U patent/CN205649470U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107643186A (en) * | 2017-09-15 | 2018-01-30 | 深圳市杉川机器人有限公司 | The method, apparatus and system of machine skidding detection |
| CN107643186B (en) * | 2017-09-15 | 2019-07-19 | 深圳市杉川机器人有限公司 | The method, apparatus and system of machine skidding detection |
| WO2020000325A1 (en) * | 2018-06-28 | 2020-01-02 | 广州艾若博机器人科技有限公司 | Apparatus, method and system for measuring speed of universal wheel, slip detection method, movable electronic apparatus, and method and route correction apparatus for correcting route |
| CN110174257A (en) * | 2019-06-28 | 2019-08-27 | 北京云迹科技有限公司 | The method and device that the indoor wheeled wheels of robot of detection skids |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161019 Termination date: 20190106 |